%L(i)=Link([theta d a alpha])

L(1)=Link('d',0.495,'a',0.175,'alpha',pi/2);
L(2)=Link('d',0,'a',0.9,'alpha',0,'offset',-pi/2);
L(3)=Link('d',0,'a',0.175,'alpha',-pi/2);
L(4)=Link('d',0.96,'a',0,'alpha',pi/2);
L(5)=Link('d',0,'a',0,'alpha',pi/2,'offset',pi);
L(6)=Link('d',0,'a',0,'alpha',0);
ABB_IRB_4600=SerialLink(L)
ABB_IRB_4600.name='ABB IRB 4600'

% %% trajectory generation
% path = [7 7 0;7 25 0;7 7 0;15 15 0;23 7 0;23,25,0]
% p = mstraj(path, [1 1 3], [], [1 1 1], 1, 1)
% Tp = transl(0.05*p);
% q = ABB_IRB_4600.ikine(Tp)
% ABB_IRB_4600.plot(q,'trail','b*','top','workspace',[-3 3 -3 3 -3 3])
% hold on;
% qn=[120 90 90 -90 90 90]*pi/180
% ABB_IRB_4600.plot(qn)
% Tp = transl(0.1*p);
% q = ABB_IRB_4600.ikine(Tp)
%% Trajectory Generation
% fprintf("JT:Joint-Space Trajectory\nCT:Cartesian-Space Trajectory\n")
% ch=input('','s');